Lidar and adjustment method thereof

ABSTRACT

This application provides an optical device, including an emitting assembly configured to emit an outgoing light signal, a beam splitting assembly configured to pass the outgoing light signal from the emitting assembly to a detection region, receive a reflected light signal from the detection region, and modify a transmission direction of the reflected light signal, a receiving assembly configured to receive the reflected light signal from the beam splitting assembly after the direction modification and generate an electrical signal in response to the reflected light signal. Also disclosed is a method of adjusting an optical device as described herein.

RELATED APPLICATIONS

The present patent document claims priority of PCT Application No.PCT/CN2019/081578, filed Apr. 4, 2019, and PCT Application No.PCT/CN2019/104431, filed Sep. 4, 2019, the entire contents of each ofwhich are incorporated herein by reference.

BACKGROUND Technical Field Text

The present application relates to the field of The Lidar, and inparticular, to a Lidar and an adjustment method thereof.

Background Information

Lidar is a radar system that emits a laser beam to detect a targetobject's position, velocity, and other characteristic quantities. Itsworking principle is that a transmitting assembly first emits anoutgoing light signal towards a target object, and then a receivingassembly receives the light signal reflected from the target object. Thereflected light signal is then compared with the outgoing light signal.After processing, relevant information of the target object, such asparameters of distance, orientation, height, speed, attitude, and evenshape of the target object, can be obtained.

Currently, because sizes of laser emission aperture and laser receivingaperture of coaxial optical path of Lidar are limited, the detectioneffect and detection distance of Lidar are limited. As a result, thecoaxial optical path of Lidar frequently falls to meet detectionrequirements. In addition, the field of view of a single emittingassembly and the field of view of a single receiving assembly in a Lidarunder the coaxial design are insufficient to meet the detectionrequirements. Therefore, some Lidars adopt multiple emitting assembliesto splice the emitting field of view and multiple receiving assembliesto splice the receiving field of view to expand their scanning ranges.

Usually, multiple emitting assemblies form an emitting system, andmultiple receiving assemblies form a receiving system. The emittingsystem and the receiving system may be adjusted independently. However,a Lidar includes many optical components accurately and compactlyassembled within a limited inner space. The optical components maymutually affect performances of each other during adjustment.Consequently, adjusting and calibrating an existing Lidar iscomplicated, difficult, and inefficient. In addition, existing Lidardesign causes high maintenance and service costs.

BRIEF SUMMARY

According to one embodiment of the present disclosure, an optical deviceand a method of adjusting an optical device are provided.

According to an aspect of the present disclosure, an optical device mayinclude an emitting assembly configured to emit an outgoing lightsignal; a beam splitting assembly configured to pass the outgoing lightsignal from the emitting assembly to a detection region, receive areflected light signal from the detection region, and modify atransmission direction of the reflected light signal, wherein thereflected light signal comprises at least a part of the outgoing lightsignal reflected by an object in the detection region; and a receivingassembly configured to receive the reflected light signal from the beamsplitting assembly after the direction modification and generate anelectrical signal in response to the reflected light signal.

The optical device may further include a reflector assembly disposedbetween the beam splitting assembly and the receiving assembly andconfigured to direct the reflected light signal from the beam splittingassembly to the receiving assembly. The optical device may furtherinclude a reflector assembly disposed between the emitting assembly andthe beam splitting assembly and configured to direct the outgoing lightsignal from the emitting assembly to the beam splitting assembly. Theoptical device may further include a collimating assembly disposedbetween the emitting assembly and the beam splitting assembly andconfigured to modify emission characteristics of the outgoing lightsignal along a first axis and a second axis, the first axis and thesecond axis being perpendicular to the transmission direction. The firstaxis is a fast axis and the second axis is a slow axis of the outgoinglight signal.

The optical device may further include a focusing assembly configured toreceive the reflected light signal from the beam splitting assembly andconverge the reflected light signal onto the receiving assembly. Theoptical device may further include a secondary beam splitting assemblydisposed between the emitting assembly and the beam splitting assemblyand configured to removing an unwanted part of the outgoing lightsignal. The optical device may further include a beam reducing assemblydisposed between the emitting assembly and the beam splitting assemblyand configured to reduce a dimension of the outgoing light signal. Thebeam reducing assembly may reduce the dimension of the outgoing lightsignal by one half. The dimension reduction is measured along adirection perpendicular to the transmission direction.

According to an aspect of the present disclosure, an optical device mayinclude a first optical transceiver component configured to emit a firstoutgoing light signal along a first optical axis to a detection regionand receive a first reflected light signal along the first optical axisreturning from the detection region; a second optical transceivercomponent configured to emit a second outgoing light signal along asecond optical axis to the detection region and receive a secondreflected light along the second optical signal axis returning from thedetection region; a galvanometer assembly configured to receive thefirst outgoing light signal and the second outgoing light signal fromthe first optical transceiver component and the second opticaltransceiver component, respectively, and direct the first reflectedlight signal and the second reflected light signal to the first opticaltransceiver component and the second optical transceiver component,respectively; and a bottom plate configured to secure relative positionsof the first optical transceiver component, the second opticaltransceiver component, and the galvanometer assembly.

The first optical transceiver component may have a first field of viewcorresponding to the first outgoing light signal and the first reflectedlight signal. The second optical transceiver component may have a secondfield of view corresponding to the second outgoing light signal and thesecond reflected light signal. The first field of view and the secondfield of view partially overlap.

The optical device may further include a first reflector and a secondreflector disposed on the bottom plate. The first reflector isconfigured to direct the first outgoing light signal from the firstoptical transceiver component to the galvanometer assembly, and thesecond reflector is configured to direct the second outgoing lightsignal from the second optical transceiver component to the galvanometerassembly.

The optical device may further include a third optical transceivercomponent configured to emit a second outgoing light signal along athird optical axis to the detection region and receive a secondreflected light along the third optical signal axis returning from thedetection region. The first, second, and third optical transceivercomponents are arranged substantially in a plane.

According to another aspect of the present disclosure, a method foradjusting an optical device may include aligning an emitting assemblyand a beam splitting assembly; coupling a receiving assembly to the beamsplitting assembly; emitting, by the emitting assembly, an outgoinglight signal to a detection region through the beam splitting assemblyalong a first transmission direction, wherein the beam splittingassembly receives a reflected light signal from the detection region anddirect the reflected light signal along a second transmission directionto the receiving assembly, the reflected light signal comprising atleast a part of the outgoing light signal reflected from the detectionregion; detecting the reflected light signal directed from the beamsplitting assembly to the receiving assembly; comparing the reflectedlight signal with a threshold value; and adjusting the opticaltransceiver component until the reflected light signal received by thereceiving assembly is greater than or equal to the threshold value.

Adjusting the optical transceiver component until the reflected lightsignal received by the receiving assembly is greater than or equal tothe threshold value may further include adjusting the receiving assemblywith respect to the beam splitting assembly until the reflected lightsignal received by the receiving assembly is greater than or equal tothe threshold value.

The method may further include fixing the receiving assembly withrespect to the beam splitting assembly. Aligning the emitting assemblyand a beam splitting assembly may further include coupling the emittingassembly to a reflector assembly; and aligning the emitting assembly,the reflector assembly and the beam splitting assembly. Fixing theemitting assembly with respect to the beam splitting assembly mayfurther include fixing the reflector assembly and the beam splittingassembly to a bottom plate; and fixing the emitting assembly to thereflector assembly.

The method may further include fixing a reflector assembly to the beamsplitting assembly. Coupling the receiving assembly to the beamsplitting assembly may further include aligning the receiving assemblywith the reflector assembly; coupling the receiving assembly to the beamsplitting assembly through the reflector assembly fixed to the beamsplitting assembly; and fixing the receiving assembly to the reflectorassembly. Adjusting the optical transceiver component until thereflected light signal received by the receiving assembly is greaterthan or equal to the threshold value may further include adjusting areflector within the reflector assembly until the reflected light signalreceived by the receiving assembly is greater than or equal to thethreshold value; and fixing the reflector within the reflector assembly.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a Lidar according to some embodimentsof the present application;

FIG. 2 is a schematic diagram of a Lidar's optical transceiver componentaccording to some embodiments of the present application;

FIG. 3 is a schematic diagram of a Lidar's optical transceiver componentaccording to some embodiments of the present application;

FIG. 4 is a schematic structural diagram of a Lidar's opticaltransceiver component according to some embodiments of the presentapplication;

FIG. 5 is a cross-sectional view of a Lidar's beam splitting assemblyand reflector assembly according to some embodiments of the presentapplication;

FIG. 6 is a schematic structural diagram of another Lidar's opticaltransceiver component according to some embodiments of the presentapplication;

FIG. 7 is a schematic diagram of a Lidar's optical transceiver componentaccording to some embodiments of the present application;

FIG. 8 is a schematic diagram of an optical structure of a Lidar'soptical transceiver component according to some embodiments of thepresent application;

FIG. 9 is a schematic diagram of a Lidar's optical transceiver componentaccording to some embodiments of the present application;

FIG. 10 is a schematic structural diagram of a base plate and a scanningcomponent of a Lidar according to some embodiments of the presentapplication;

FIG. 11 is a schematic structural diagram of a hardware component of aLidar according to some embodiments of the present application;

FIG. 12 is a Lidar adjustment method according to some embodiments ofthe present application;

FIG. 13 is a Lidar adjustment method according to some embodiments ofthe present application; and

FIG. 14 is a Lidar adjustment method according to some embodiments ofthe present application.

DETAILED DESCRIPTION OF THE DRAWINGS AND THE PRESENTLY PREFERREDEMBODIMENTS

In order to facilitate understanding of the present invention, and inorder to make the above-mentioned objects, features, and advantages ofthe present invention more comprehensible, specific embodiments of thepresent invention will be described in detail below with reference tothe accompanying drawings. In the following description, many specificdetails are set forth in order to fully understand the presentinvention, and the preferred embodiments of the present invention areshown in the accompanying drawings. However, the invention can beimplemented in many different forms and is not limited to theembodiments described herein. Rather, these embodiments are provided toprovide a thorough understanding of the present disclosure. The presentdisclosure can be implemented in many other ways than described herein,and those skilled in the art can make similar improvements withoutdeparting from the content of the present invention, so the presentinvention is not limited by the specific embodiments disclosed below.

In addition, the terms “first” and “second” are used for descriptivepurposes only and cannot be understood as indicating or implyingrelative importance or implicitly indicating the number of technicalfeatures. Therefore, the features defined as “first” and “second” mayexplicitly or implicitly include at least one of the features. In thedescription of the present disclosure, the meaning of “plurality” is atleast two, for example, two, three, etc., unless it is specifically andspecifically defined otherwise.

Unless defined otherwise, all technical and scientific terms used hereinhave the same meaning as commonly understood by one of ordinary skill inthe art to which this disclosure belongs. The term “and/or” as usedherein includes any and all combinations of one or more of theassociated listed items.

FIG. 1 is a schematic diagram of a Lidar 1 according to some embodimentsof the present application. The Lidar 1 in the present application mayinclude at least one optical transceiver component 10 mounted on a base(not shown in FIG. 1 ). The optical transceiver component 10 maytransmit an outgoing light signal to a target object and receive areflected light signal reflected by the target object. The opticaltransceiver component 10 may then compare the reflected light signalwith the outgoing light signal, and obtain information about parametersof the target object, such as distance, position, altitude, speed,posture, and even shape. The target object may be a moving object, e.g.,automobiles, aircraft, and even birds, fish, etc. The target object mayalso be a still object, such as the ground, buildings, and the like. TheLidar 1 may be mounted on a moving object, for example, mounted on anautomobile to detect objects appear to the surrounding of theautomobile. The Lidar 1 may also be mounted on a stationary object, suchas being mounted on a fixed position to detect the speed of a movingobject and the like. The Lidar 1 may include one optical transceivercomponent 10, but may also include a plurality of optical transceivercomponents 10. The number of the optical transceiver components 10 maybe determined by actual need, which is not limited by the presentapplication. Each optical transceiver component 10 may have a limitedhorizontal field of view angle. When the Lidar 1 needs a largerhorizontal field of view angle, the Lidar 1 may adopt a plurality ofoptical transceiver components 10 each with a smaller field of viewangle, and combine or splice them horizontally to achieve the largerhorizontal field of view angle required by an application. For example,when a 120° horizontal field of view angle is required for the Lidar 1,four optical transceiver components 10 each with a 30° field of viewangle may be adopted by the Lidar 1, in which the horizontal fields ofview angle of the four optical transceiver components 10 are combined orspliced horizontally.

FIG. 2 is a schematic diagram of the optical transceiver component 10 ofLidar 1 according to some embodiments of the present application. Theoptical transceiver component 10 may include at least one emittingassembly 101, at least one beaming splitting assembly 102, and at leastone receiving assembly 103. The emitting assembly may emit an outgoinglight signal, which may pass through the beam splitting assembly 102 andthen reach a detection region having a target object 11. At least a partof the outgoing light signal may then be reflected by the target object11 in the detection region and become a reflected light signal receivedby the beam splitting assembly 102. The reflected light signal is thendirected by the beam splitting assembly 102 to the receiving assembly103. In addition, the optical transceiver component 10 may also Includea base (not shown in FIG. 2 ). The emitting assembly 101, beamingsplitting assembly 102, and the receiving assembly 103 are mounted onand fixed to the base.

According to some embodiments, the emitting assembly 101 may include alaser generator and a collimating assembly. The laser generator is usedto generate an original laser signal. The collimating assembly isconfigured to collimate the laser signal generated by the lasergenerator and emit the collimated laser signal as the outgoing lightsignal. The laser generator may generate a semiconductor laser, a fiberlaser, and the like, or any combinations thereof. Optionally, thecollimating assembly may include a spherical lens, a spherical lensgroup, a cylindrical lens group, a cylindrical lens and a spherical lensgroup, an aspherical lens, and a gradient index lens, and the like, orany combinations thereof. According to another embodiment, thecollimating assembly may be separated from the emitting assembly.

Further, during installation and adjustment of the emitting assembly101, the laser generator may first generate a laser beam. The laser beamis then collimated by the collimating assembly. When the emissionassembly 101 is adjusted, a divergence angle may be calculated bymeasuring the spot size of the outgoing laser beam after collimation.The emitting assembly 101 is deemed properly adjusted when thedivergence angle is less than or equal to a preset threshold ofdivergence angle; otherwise, the collimating assembly 101 may needfurther adjustment to reduce the divergence angle until the divergenceangle is less than or equal to the present divergence angle threshold.

According to some embodiments, the receiving assembly 103 may Include adetector and a focusing assembly. The focusing assembly may beconfigured to receive and converge the reflected light signal. Thedetector may be configured to receive the reflected light signalconverged by the focusing assembly. Additionally, the focusing assemblymay also include a ball lens, a ball lens group, a cylindrical lensgroup or any combinations thereof. The detector may be an avalanchephoto diode (APD), a silicon photomultiplier (SIPM), an APD array, amulti-pixel photon counter (MPPC), or a photomultiplier tube (PMT),and/or a single-photon avalanche diode (SPAD), etc.

Further, when the receiving assembly 103 is installed and adjusted, alaser beam may first be inputted to the focusing assembly. When it isdetermined that the laser beam is converged on the surface of thedetector after passing through the focusing assembly, the receivingassembly 103 may be deemed properly adjusted. Otherwise the adjustmentof the focusing assembly may be continued until the laser beam isconverged on the surface of the detector.

The beam splitting assembly 102 may let the outgoing light signal passthrough, but at the same time may deflect or direct the coaxiallyincident reflected light signal toward the receiving assembly 103.

Specifically, the outgoing light signal emitted from the emittingassembly 101 may pass through the beam splitting assembly 102 and betransmitted towards the detection region. When the target object 11 isin the detection region, at least a part of the outgoing light signalmay be reflected by the target object 11 to become the reflected lightsignal. The reflected light signal may enter into the beaming splittingassembly 102 when returning to the Lidar 1. Rather than passing thoughthe beaming splitting assembly 102 as does the outgoing light signal,the reflected light signal may be deflected or directed by the beamingsplitting assembly 102 toward the receiving assembly 103 and received bythe receiving assembly 103.

According to some embodiments, the optical transceiver component 10 mayalso include a reflector assembly 104. The reflector assembly 104 may bepositioned between the beam splitting assembly 102 and the receivingassembly 103 in one embodiment. The reflector assembly 104 may also bepositioned between the emitting assembly 101 and the beam splittingassembly 102 in another embodiment.

FIG. 3 is a schematic diagram of the optical transceiver component 10according to some embodiments of the present application. In addition tothe parts of the optical transceiver component 10 shown in FIG. 2 , theoptical transceiver component 104 in FIG. 3 may include a reflectorassembly 104. The reflector assembly 104 maybe positioned between thebeam splitting assembly 102 and the receiving assembly 102, so thatafter deflected by the beam splitting assembly 102, the reflected lightsignal may be further reflected or directed by the reflector assembly104 to the receiving assembly 103. The reflected light signal afterbeing reflected or directed by the reflector assembly 104 may have afirst optical axis. The outgoing light signal after passing though thebeam splitting assembly 102 may have a second optical axis. The firstoptical axis and the second optical axis may be parallel or may form anangle, as long as the reflected light signal enters the receivingassembly. The reflector assembly 104 may be configured to fold or changethe light path of the receiving light signal so as to reduce the size ofthe optical transceiver component 10.

Specifically, the outgoing light signal emitted by the emitting assembly101 is transmitted to a detection region after passing through a beamsplitting assembly 102. At least part of the outgoing light signal maythen be reflected by a target object in the detection region and becomethe reflected light signal. The reflected light signal may subsequentlyincident into the beam splitting assembly 102, be deflected or directedto the reflector assembly 104, then be reflected or directed by thereflector assembly 104 to the receiving assembly 103, and finally bereceived by the receiving assembly 103.

FIG. 4 is a schematic structural diagram of optical transceivercomponent according to some embodiments of the present application.Optical transceiver component 10 may include an emitting assembly 101, abeam splitting assembly 102, a reflector assembly 104, and a receivingassembly 103. Additionally, the optical transceiver component 10 in FIG.4 may further include a base 100, a collimating assembly 105, and afocusing assembly 106.

As shown in FIG. 4 , the emitting assembly 101, the collimating assembly105, and the beam splitting assembly 102 may be sequentially arranged onthe base 100 from left to right. An outgoing light signal, such as alaser beam, may travel all the way through the collimating assembly 105and the beam splitting assembly 102 to reach a detection region. Whenthe reflected light signal travels back, it may be received by the beamsplitting assembly 102 and then be deflected or directed upward to thereflector assembly 104, which deflect or direct the reflected lightsignal to the left to the receiving assembly 103. Therefore, the lightpath of the reflected light signal between the reflector assembly 104and the receiving assembly 103 may be parallel or substantially parallelto the light path of the outgoing light signal between the emittingassembly 101 and the beam splitting assembly 102.

The base 100 may be a mounting base of the optical transceiver component10. At least one optical transceiver component 10 may be mounted andfixed on the base 100. When installed, each of the at least one opticaltransceiver component 10 may correspond to an installation angle.Specifically, each optical transceiver component 10 may be positionedsuch that the light path of the outgoing light signal or the light pathof the reflected light signal of each optical transceiver component 10described above may have a unique transmission direction thatcorresponds to the installation angle of the respective opticaltransceiver component 10. Therefore, each of the at least one opticaltransceiver component 10 may simply be mounted and fixed on the base 100according to its corresponding installation angle. In addition, thematerial and shape of the base 100 may be determined according to actualuse, which is not limited in this disclosure.

FIG. 5 is a cross-sectional view of the beam splitting assembly 102 andthe reflector assembly 104 according to some embodiments of the presentapplication. As shown in FIG. 5 , the beam splitting assembly 102 andthe base 100 may be an integrated part or fixedly connected. The beamsplitting assembly 102 may be fixed corresponding to the installationangle, as described above, on the base 100. The emitting assembly 101and the receiving assembly 103 may be installed using the position ofthe beam splitting assembly 102 as a reference. The emitting assembly101 may be fixedly connected to the base 100 and may be aligned with thebeam splitting assembly 102. Specifically, during installation, theemitting assembly 101 may first be aligned with the beam splittingassembly 102 so that the outgoing light signal emitted from the emittingassembly 101 may be directed toward the beam splitting assembly 102, andthe emitting assembly 101 may then be fixed to the base 100. Inaddition, the connection between the emitting assembly 101 and the base100 may use one or more of a snap connection, a screw connection, aconnection through pin(s), an adhesive connection, and any combinationsthereof.

The beam splitting assembly 102 may include a beamsplitter supportingassembly 1021 and a beamsplitter 1022. The beamsplitter 1022 may be apolarizing beamsplitter, a reflector with a center whole, asemi-transparent reflector, or the like. The beamsplitter supportingassembly 1021 may be formed as part of the base 100 or may be fixedlyconnected to the base 100. The beamsplitter 1022 may be mounted andfixed in the beamsplitter supporting assembly 1021. The beamsplittersupporting assembly 1021 may be of a cubic structure (e.g., a cubichousing). The beamsplitter supporting assembly 1021 may include amounting position inside the housing, so that the beamsplitter 1022 maybe mounted on and fixed to the mounting position at a preset tilt angleand position. For example, the mounting position of the beamsplittersupporting assembly 1021 may include a mounting surface being pre-builtwith the preset tilt angle, so that when installed, the beamsplitter1022 is placed and fixed to the mounting surface. The beamsplittersupporting assembly 1021 and the base 100 may be formed as an integratedstructure or fixedly connected with each other to ensure accuracy of thepositioning. The connection between the beamsplitter 1022 and thebeamsplitter support assembly 1021 may be a snap connection, a screwconnection, an adhesive connection, or any combinations thereof.Additionally, the material of the beamsplitter supporting assembly 1021may be the same as or different from the material of the base 100.

The beam splitting assembly 102 may further include a secondarybeamsplitter 1023 and a pressing block 1024. The secondary beamsplitter1023 may be placed between the beamsplitter 1022 and the collimatingassembly 105 and configured to partially filter out the outgoing lightsignal. For example, the secondary beamsplitter 1023 may be apolarization beam splitter (PBS) to filter out the S-polarized laserbeam. Adding the secondary beamsplitter 1023 in the beam splittingassembly 102 can reduce the intensity of the outgoing signal lightpassing through to the beamsplitter 1022, thereby reducing localheating. Since the secondary beamsplitter 1023 filters out the Spolarized light, the S-polarized light is directed away from thereceiving assembly 103, and undesired effects caused by the S-polarizedlight to the receiving assembly 103 are minimized. Certainly, one ofordinary skill in the art would understand that without the secondarybeamsplitter 1023, the optical transceiver component 10 may still emitand receive the laser beam and reach its design requirements of signaldetection. However, having the secondary beam splitter 1023 mayeliminate the effects of the S-polarized light signal to the receivingassembly 103 and improve the detection performance and detectionaccuracy of the optical transceiver component 10.

The secondary beamsplitter 1023 may be fixed by the beamsplittersupporting assembly 1021. The beamsplitter supporting assembly 1021 maybe provided with an installation position of the secondary beamsplitter1023. The secondary beamsplitter 1023 may be set in the beamsplittersupporting assembly 1021 at a preset inclination angle and positionthrough the secondary beamsplitter mounting position, and fixed by thepressing block 1024.

The optical transceiver component 10 may further include a collimatingassembly 105 as shown in FIG. 4 according to a further embodiment. Thecollimating assembly 105 may be disposed between the emitting assembly101 and the beam splitting assembly 102. Therefore, after the outgoinglight signal is emitted by the emission assembly 101, the collimatingassembly 105 may collimate the outgoing light signal and direct it tothe beam splitting assembly 102.

The collimating assembly 105 may include at one fast axis collimatinglens, at least one slow axis collimating lens, a fast axis collimatorbarrel 1051, and a slow axis collimator holder 1052. The at least onefast axis collimating lens may be placed in the fast axis collimatorbarrel 1051, which is fixed on the base 100. The at least one slow axiscollimating lens may be placed in the slow axis collimator holder 1052,which is also fixed on the base 100 next to and aligned with the fastaxis collimator barrel 1051.

During installation, the fast axis collimator barrel 1051 is firstinstalled on the base 100. The fast axis collimating lens is fixed inthe fast collimator barrel 1051. Then the slow axis collimator holder1052 is placed on the base 100. After the slow axis collimating lens isaligned with the fast axis collimating lens, the slow axis collimatorholder 1052 may be fixed on the base 100.

The connection between the fast axis collimator barrel 1051 and the base100 may be a snap connection, a screw connection, a connection throughpin(s), an adhesive connection, or any combination thereof. Theconnection between the slow axis collimator holder 1052 and the base 100may be a snap connection, a screw connection, a connection throughpin(s), an adhesive connection, or any combinations thereof.

The emitting assembly 101 may include an emission board 1011 and anemission board supporting assembly. The emission board 1011 may includea laser generator and may be fixed to the emission board supportingassembly. The emitting board supporting assembly may further include anemission board adjustment cover 1013 and an emission board adjustmentbase 1012, respectively mounted on the base 100 and facing each other.The emission board 1011 may be sandwiched between the emission boardadjustment cover 1013 and the emission board adjustment base 1012.

When installing the emitting assembly 101, the emission board 1011 mayfirst be placed between the emission board adjustment cover 1013 and theemission board adjustment base 1012, and then the emission boardadjustment cover 1013 is fixed to the emission board adjustment base1012, so that the emission board 1011 is clamped between the emissionboard adjustment cover 1013 and the emission board adjustment base 1012.Then the clamped emission board 1011 may be placed in an emission boardmounting position on the base 100. After the emission board 1011 isaligned with the beam splitting assembly 102, the emission boardadjustment base 1012 may be fixed on the base 100.

In addition, the connection between the emission board adjustment base1012 and the base 100 may be a snap connection, a screw connection, aconnection through pin(s), an adhesive connection, or any combinationsthereof.

The reflector assembly 104 may include a reflector supporting assembly1041 and one or more reflector 1043 as shown in FIGS. 4 and 5 . Thereflector 1043 may be a flat mirror, a cylindrical mirror, an asphericcurvature mirror, or the like. The reflector 1043 may be fixed by thereflector supporting assembly 1041. Additionally, the reflector assembly104 may further include a mirror cover 1042. The reflector 1043 may befixed on an inner surface of the mirror cover 1042. The mirror cover1042 may be fixedly connected to the reflector supporting assembly 1041,so as to fix the reflector 1043 within the reflector assembly 104.

When installing the reflector assembly 104, one may adjust the reflectorassembly 104 until the reflector support assembly 1041 and thebeamsplitter supporting assembly 1021 are aligned. Then the reflectorassembly 104 may be fixedly connected to the beam splitting assembly102.

The connection between the reflector assembly 104 and the beam splittingassembly 102 may be a snap connection, a screw connection, a connectionthrough pin(s), an adhesive connection, and any combinations thereof.The connection between the mirror cover 1042 and the reflectorsupporting assembly 1041 may be a snap connection, a screw connection, aconnection through pin(s), an adhesive connection, and any combinationsthereof.

The receiving assembly 103 may include a receiving board (not shown inthe figure), a receiving board base 1031, and a focusing assembly 106 asshown in FIG. 4 . The receiving board may be used to obtain thereflected light signal. The receiving board may include a detector, suchas an APD, an APD array, a MPPC, a SPAD, a PMT, a SIPM, or otherdetectors. The receiving board may be fixed by the receiving board base1031. Alternatively, the focusing assembly 106 may be a separateassembly from the receiving assembly 103.

The focusing assembly 106 may be coupled to the reflector assembly 104and configured to converge the reflected light signal form the reflectorassembly 104. Then the reflected light signal may be directed by thefocusing assembly 106 toward the detector of the receiving board in thereceiving assembly 103. The focusing assembly 106 may include a focusinglens barrel 1061 and at least one focusing lens (not shown in thefigure). The at least one focusing lens may be placed in the focusinglens barrel 1061. One end (i.e., “the first end”) of the focusing lensbarrel 1061 may be aligned with a light exit port of the reflectorassembly 104, and the other end (i.e., “the second end”) of the focusinglens barrel 1061 may be aligned with a light input port of the receivingassembly 103.

During Installation of the receiving assembly 103, a laser beam may befirst emitted into the first end of the focusing lens barrel 1061 toadjust the positions of the receiving board and the receiving board base1031. After the laser beam passes through the focusing assembly 106 andconverges at the surface of the detector, the receiving board base 1031and the focusing assembly 106 may be fixedly connected. The position ofthe focusing lens barrel 1061 may be adjusted thereafter. When the firstend of the focusing lens barrel 1061 is aligned with the light exit portof the reflector assembly 104, the focusing assembly 106 and thereflector assembly 104 may be fixedly connected. That is, the receivingmodule 103 may be fixedly connected to the reflector supporting assembly1041. The connection between the reflector assembly 104 and the focusingassembly 106 and the connection between the receiving board and thefocusing assembly 106 may be snap connections, screw connections,connections through pin(s), adhesive connections, or any combinationsthereof.

As described above, the reflector assembly 104 may be disposed betweenthe beam splitting assembly 102 and the receiving assembly 103 accordingto an embodiment. According to an alternative embodiment, the reflectorassembly 104 may also be disposed between the emitting assembly 101 andthe beam splitting assembly 102.

FIG. 6 is a schematic structural diagram of another optical transceivercomponent 10 according to some embodiments of the present application.The optical transceiver component 10 may include a base 100, acollimating assembly 105, a reflector assembly 104, a beam splittingassembly 102, a secondary beam splitting assembly 107, a focusingassembly 106, and a receiving assembly 103.

The optical transceiver component 10 shown in FIG. 6 has a differentstructural arrangement from the optical transceiver component 10 shownin FIG. 4 , where the emitting assembly 101, the collimating assembly105, and the beam splitting assembly 102 are all mounted on the base 100and aligned with one another. In the optical transceiver component 10shown in FIG. 6 , the reflector assembly 104, the secondary beamsplitting assembly 107, and the beam splitting assembly 102 may bemounted on the base 100. The collimating assembly 105 may be connectedto the emitting assembly 101 at its top end, to the reflector assembly104 at its bottom end. As a result, the collimating assembly 105 may beoriented towards the base 100. For example, the light axis of thecollimating assembly 105 may be perpendicular or substantiallyperpendicular with respect to the base 100. The emitting assembly 101may include an optical fiber for introducing a laser beam to the opticaltransceiver component 10.

In addition, the focusing assembly 106 may be connected to the beamsplitting assembly 106 and oriented towards the base 100. For example,the light axis of the focusing assembly 106 may be perpendicular orsubstantially perpendicular with respect to the base 100. Consequently,the outgoing light signal may be emitted from the emitting assembly 101,directed downwardly to the collimating assembly 105, and then bereflected by the reflector assembly 104 towards right, and betransmitted all the way through the secondary beam splitting assembly107 and the beam splitting assembly 102 to the detection region. Theoutgoing light signal is then reflected, at least in part, by a targetobject in the detection region. The reflected light signal from thedetection region may be received by the beam splitting assembly 102,deflected or directed upwards by the beam splitting assembly 102 to thereceiving assembly 103 through the focusing assembly 106. Accordingly,the light path of the optical transceiver component shown in FIG. 6 maybe of a U shape.

The base 100 may be a mounting base of the optical transceiver component10. At least one optical transceiver component 10 is fixed on the base100 according to an installation angle as described above. Each opticaltransceiver component 10 may be installed on the base 100 and have alight transmission direction corresponding the installation angle. Inaddition, the material and shape of the base 100 may be determinedaccording to actual use, which is not limited in this application.

The beam splitting assembly 102 may include a beamsplitter supportingassembly 1021 and a beam splitter 1022, which are similar to those ofFIG. 4 .

Different from the embodiment of FIG. 4 , however, the opticaltransceiver component 10 of FIG. 6 may further include a secondary beamsplitting assembly 107, which is a separate assembly from the beamsplitting assembly 102. The secondary beam splitting assembly 107 may beplaced between the reflector assembly 104 and the beam splittingassembly 102. The secondary beam splitting assembly 107 may include asecondary beamsplitter supporting assembly 1071 and a secondarybeamsplitter (not shown in FIG. 6 ). The secondary beamsplittersupporting assembly 1071 may be a cubic structure (e.g., a cubichousing). The secondary beam splitting supporting assembly 1071 mayinclude a secondary beamsplitter mounting position to fix the secondarybeamsplitter at a preset tilt angle and position. Accordingly, wheninstalled, the secondary beamsplitter may be placed and mounted to thecorrespondingly secondary beamsplitter supporting assembly 1071. Thesecondary beamsplitter supporting assembly 1071 may be fixedly connectedto the base 100. The features and functions of the secondary beamsplitting assembly 107 are otherwise similar to those of secondarybeamsplitter 1023.

The reflector assembly 104 may include a reflector 1043, a reflectorsupporting assembly 1041, and an adjusting member 1044. The reflector1043 may be mounted on the reflector supporting assembly 1041. Theadjusting member 1044 may be configured to adjust the position and angleof the reflector 1043. The reflector 1043 may be fixed on the base 100through the reflector supporting assembly 1041. In addition, theconnection between the reflector supporting assembly 1041 and the base100 may be a snap connection, a screw connection, a connection throughpin(s), an adhesive connection, and any combinations thereof.

Additionally, the receiving assembly 103 may further include thefocusing assembly 106. The focusing assembly 106 may be placed between areceiving board (not shown in FIG. 6 ) of the receiving assembly 103 andthe beam splitting assembly 102. The reflected light signal from thebeam splitting assembly 102 may be converged and directed by thefocusing assembly toward the receiving board of the receiving assembly103. The focusing assembly 106 may include a focusing lens barrel 1061and at least one focusing lens (not shown) in the focusing lens barrel1061. One end (i.e., “the first end”) of the focusing lens barrel 1061may be connected to and aligned with the light exit port of the beamsplitting assembly 102, and the other end (i.e., “the second end”) maybe connected to and aligned with the light input port of the receivingassembly 103.

The optical transceiver component 10 may further include a collimatingassembly 105 as shown in FIG. 6 . The collimating assembly 105 may beplaced between the emitting assembly 101 and the reflector assembly 104.The outgoing light signal emitted by the incident optical fiber can becollimated through the collimating assembly 105 and then emitted to thereflector assembly 104. Specifically, the collimating assembly 105 mayinclude a collimating lens barrel 1053 and at least one collimating lens(not shown in FIG. 6 ) in the collimating lens barrel 1053. The incidentfiber may be aligned with the light input port of the collimator lensbarrel 1053. The light exit port of the collimating lens barrel 1053 maybe aligned with the light input port of the reflector assembly 104. Thecollimating lens barrel may be fixed on a reflector supportingcomponent, and the outgoing light signal may be directed to thereflector assembly 104 after passing through the collimating assembly105.

To install the optical transceiver component in FIG. 6 , the receivingassembly 103 may first be aligned with the beam splitting assembly 102,and then be fixedly connected to the beam splitting assembly 102. Thebeam splitting assembly 102 may then be aligned with the reflectorassembly 104. The beam splitting assembly 102 and the reflector assembly104 may be fixed to the base 100. Then, the emitting assembly 101 may befixedly connected to the reflector assembly 104. If the opticaltransceiver component 10 includes the collimating assembly 105, theemitting assembly 101 may first be connected to the collimating assembly105, which may then be connected and fixed to the reflector assembly104.

Finally, the receiving assembly 103 may be aligned with and fixedlyconnected to the beam splitting assembly 102. Here, the reflectorassembly 104 may first be aligned with the beam splitting assembly 102before the reflector assembly 104 and the beam splitting assembly 102are fixedly connected on the base 100. In other words, one have to makesure that the outgoing light signal emitted by the emitting assembly 101is reflected by the reflector assembly 104 and directed to the beamsplitting assembly 102 before fixing the reflector assembly 104 and thebeam splitting assembly 102. In addition, the connection between thereflector assembly 104 and the base 100 and the connection between thebeam splitting assembly 102 and the base 100 may be snap connections,screw connections, connections through pin(s), adhesive connections, andany combinations thereof.

FIG. 7 is a schematic diagram of another optical transceiver component10 according to some embodiments of the present application. In additionto the elements shown in FIG. 3 , the optical transceiver component 10in FIG. 7 may further includes at least one beam reducing assembly 108and collimating assembly 105.

The at least one beam reducing assembly 108 may be disposed between theemitting assembly 101 and the beam splitting assembly 102. The beamreducing assembly 108 may be configured to reduce the size (beamdiameter) of the outgoing light signal along a direction perpendicularto the transmission direction of the outgoing light signal. Reducing thebeam diameter while keeping the overall power of the outgoing lightsignal, may increase the energy density of the outgoing light signal,thereby improving the emitting efficiency of the outgoing light signaland improving the detection distance and detection performance of theoptical transceiver component 10.

The collimating assembly 105 of FIG. 7 may be disposed between theemitting assembly 101 and the beam reducing assembly 108. The outgoinglight signal from the emitting assembly 101 may first be collimated bythe collimating assembly 105, and then may pass through the beamsplitting assembly 102 and emitted to the target region, where thetarget object locates. The outgoing light signal is then reflected bythe target object and becomes the reflected light signal, which travelsback to the beam splitting assembly 102. The reflected light signal maybe received by the receiving assembly 103 after being deflected anddirected by the beam splitting assembly 102. The collimating assembly105 may include a negative lens, such as a concave lens, which may causea beam of parallel rays to diverge after refraction. The negative lensmay diverge the outgoing light signal in the direction of the slow axisand/or the fast axis, occupying a small space distance, and increasingthe focal length of the outgoing light signal in the slow axis and/orthe fast axis direction, reducing the diversion angle of the outgoinglight signal (i.e., converging the outgoing light signal), which isequivalent to increasing the energy density of the outgoing lightsignal, and thereby improving detection distance and detection effect ofthe optical transceiver component.

FIG. 8 is a schematic diagram of an optical structure of the opticaltransceiver component 10 according to some embodiments of the presentapplication. FIG. 9 is a schematic diagram of the optical transceivercomponent 10 corresponding to FIG. 8 .

As shown in FIG. 8 , the beam reducing assembly 108 may include ahalf-wave plate 1081, a reflector 1082, and a polarizing beamsplitter1083. The half-wave plate 1081 may convert P-polarized light toS-polarized light, or convert S-polarized light to P-polarized light.The polarizing beamsplitter 1083 may let the P-polarized light passthrough and deflect the S-polarized light. Alternatively, the polarizingbeamsplitter 1083 may let the S-polarized light pass through and deflectthe P-polarized light. The outgoing light signal may Include a firstportion (i.e., “the first outgoing light signal”) and a second portion(i.e., “the second outgoing light signal”). The first outgoing lightsignal may pass through the polarizing beamsplitter 1083 and continuetowards the beam splitting assembly 102. The second outgoing lightsignal passes through the half-wave plate 1081 and may be directed bythe reflector 1082 towards the polarizing beamsplitter 1083. Thepolarizing beamsplitter 1083 may then directed the second outgoing lightsignal towards the beam splitting assembly 102. The optical axis of thefirst outgoing light signal may be parallel to the optical axis of thesecond outgoing light signal after the beam reducing assembly 108.

The polarizing beamsplitter 1083 and half-wave plate 1081 may be alignedalong the fast axis direction of the outgoing light signal. The outgoinglight signal may be P-polarized light, S-polarized light, or a mixtureof P-polarized light and S-polarized light. The following descriptiontakes the P-polarized outgoing light signal as an example forillustration. In this example, the polarizing beamsplitter 1083 lets theP-polarized light pass and deflects the S-polarized light. Thus, whenthe outgoing light signal includes only P-polarized light, the firstoutgoing light signal passes through the polarizing beamsplitter 1083and transmits towards the beam splitting assembly 102. The secondoutgoing light signal passes through the half-wave plate 1081 and isconverted into S-polarized light. The second outgoing light is thendirected by the reflector 1082 toward the polarizing beamsplitter 1083.The polarizing beamsplitter 1083 then reflect the second outgoing lighttowards the beam splitting assembly 102. As a result, the secondoutgoing light signal at least partially overlaps with the firstoutgoing light signal when exiting from the beam reducing assembly 108.Further, the first outgoing light signal and the second outgoing lightsignal have no excess energy loss, assuming the efficiency of the beamreducing assembly 108 is 1. The outgoing light signal passing throughthe beam reducing assembly 108 has a reduced beam diameter in the fastaxis direction without loss of energy. The beam reducing assembly 108increases the energy density of the outgoing light signal, therebyimproving the emitting efficiency of the outgoing light signal and thedetection distance and detection effect of the optical transceivercomponent 10.

It should be noted that the polarizing beamsplitter 1083 and half-waveplate 1081 may be arranged in any direction on a plane perpendicular tothe transmission direction of the outgoing light signal. The outgoinglight signal passing through the beam reducing assembly 108 reduces thebeam diameter in the corresponding direction. When the outgoing lightsignal includes only S-polarized light, the polarizing beamsplitter 1083may be adjusted so that the S-polarized light passes through and theP-polarized light is reflected. When the outgoing light signal includesonly P-polarized light, the polarizing beamsplitter 1083 may be adjustedso that the P-polarized light passes through and the S-polarized lightis reflected. When the outgoing light signal includes a mixed light ofP-polarized light and S-polarized light, the beam reducing assembly 108passes and reduces the beam diameter of the P-polarized portion orS-polarized portion only depending on the configuration of the beamreducing assembly 108. Taking the foregoing embodiment as an example,the P-polarized light in the first outgoing light signal passes throughthe polarizing beamsplitter 1083. The S-polarized light in the firstoutgoing light signal is reflected by the polarizing beamsplitter 1083.The S-polarized light in the second outgoing light signal is convertedinto P-polarized light by half-wave plate 1081 and reflected by thereflector 1082 to the polarizing beamsplitter 1083. Because thepolarizing beamsplitter 1083 is configured to pass through P-polarizedlight, the P-polarized light in the second outgoing light from thehalf-wave plate 1081 passes through the polarizing beamsplitter 1083 andis not directed towards the beam splitting assembly 102. Thus, theS-polarized light in the outgoing light signal cannot pass through beamreducing assembly 108. Accordingly, the energy loss is large, and theenergy utilization rate is low. At the same time, the S-polarized lightin the outgoing light signal may be reflected multiple times inside theoptical transceiver component 10. This may increase the stray light,which may affect the detection performance of the receiving assembly.

According to an embodiment, the polarizing beamsplitter 1083 andhalf-wave plate 1081 may be arranged along a fast axis direction or aslow axis direction of the outgoing light signal. Thus, the diameters ofthe first outgoing light signal and the second outgoing light signalalong the fast axis direction or the slow axis direction may each be % aof the diameter of the outgoing light signal. The central optical axisof the first outgoing light signal may coincide with the central opticalaxis of the second outgoing light signal after passing through the beamreducing assembly 108.

Taking the foregoing embodiment as an example, the diameter of the firstoutgoing light signal and the diameter of the second outgoing lightsignal along the fast axis direction may be ½ of the diameter of theoutgoing light signal. The polarizing beamsplitter 1083 and half-waveplate 1081 may be aligned along the fast axis direction of the outgoinglight signal. That is, half of the outgoing light signal along thedirection of the fast axis is the first outgoing light signal, and theother half is the second outgoing light signal. When the first outgoinglight signal passes through the polarizing beamsplitter 1083, its beamdiameter is unchanged. When the second outgoing light signal passesthrough the half-wave plate 1081, the reflector 1082, and the polarizingbeamsplitter 1083, its beam diameter does not change as well. Inaddition, when the second outgoing light signal is emitted from the beamreducing assembly 108, the central optical axis of the second outgoinglight signal is shifted upwardly along the fast axis direction by adistance of ½ of the diameter of the outgoing light signal. Accordingly,the central optical axis of the first outgoing light signal coincidewith the central optical axis of the second outgoing light signal whenthey are output from the beam reducing assembly 108.

According to this embodiment, after the outgoing light signal passesthrough the beam reducing assembly 108, its beam diameter is reduced byhalf in the direction of the fast axis. As a result, the energy densityof the outgoing light signal is increased, and the emission efficiencyof the outgoing light signal is improved. Therefore, with theabove-design, the beam reducing assembly 108 may have a desiredcompression effect on the beam diameter of the outgoing light signal,and a desired energy efficiency. Further, because the beam diameter ofthe first outgoing light signal in a direction of the fast axis and thebeam diameter of the second outgoing light signal in a direction of thefast axis is ½ of the diameter of the outgoing light signal, the centraloptical axis of the first outgoing light signal and the central opticalaxis of the second outgoing light signal coincide with each other, theenergy density distribution of the outgoing light signal after the beamreducing assembly 108 is uniform, which is beneficial to accuratedetection of the target object.

It should be noted that when the polarizing beamsplitter 1083 andhalf-wave plate 1081 are arranged along the fast axis direction of theoutgoing light signal, both the first outgoing light signal and thesecond outgoing light signal may have a diameter that is ½ of thediameter of the outgoing light signal along the fast axis direction.When the polarizing beamsplitter 1083 and half-wave plate 1081 arearranged along the slow axis of the outgoing light signal, both thefirst outgoing light signal and the second outgoing light signal mayhave a diameter that is ½ of the diameter of the outgoing light signalalong the slow axis. Accordingly, the beam reducing assembly 108 maycompress the beam diameter of the outgoing light signal by half in thedirection of the fast axis, the slow axis, or both.

According to an embodiment, the projections of the polarizingbeamsplitter 1083 and the half-wave plate 1081 on a plane perpendicularto the transmission direction of the outgoing light signal may notintersect. Otherwise, part of the light beam in the outgoing lightsignal would pass through half-wave plate 1081 and then reach thepolarizing beamsplitter 1083 shown in FIG. 8 . As a result, the part ofthe light beam in the outgoing light signal would be reflected by thepolarizing beamsplitter 1083, resulting in waste of energy. Taking theforegoing embodiment as an example, assuming that the outgoing lightsignal includes only P-polarized light, when the projections of thepolarizing beamsplitter 1083 and half-wave plate 1081 on a planeperpendicular to the transmission direction the outgoing light signalintersects, the P-polarized light passes through the half-Wave plate1081 is converted to S-polarized light, a portion of which is directedtoward the polarizing beamsplitter 1083 and is deflected upwardly by thepolarizing beamsplitter 1083. Thus, this portion of the outgoing lightsignal cannot exit the beam reducing assembly 108, resulting in a wasteof the energy. Therefore, the projections of the polarizing beamsplitter1083 and half-wave plate 1081 on a plane perpendicular to thetransmission direction of the outgoing light signal cannot intersect.

The beam splitting assembly 102 may be a beamsplitter, a polarizationbeam splitter, a polarization beam splitting prism, or the like.Specifically, the beam splitting assembly 102 may include a reflector asshown in FIG. 8 . The reflector of the beam splitting assembly 102 mayhave an opening for light transmission (i.e., “the light transmittinghole”). The light transmitting hole may correspond to the outgoing lightsignal that passes through the beam reducing assembly 108. After theoutgoing light signal passes through the beam reducing assembly 108, theoutgoing light signal further passes through the reflector of the beamsplitting assembly 102 and exits from the light transmitting holethereon. Since the beam diameter of the outgoing light signal after thebeam reducing assembly 108 may be reduced, the diameter of the lighttransmitting hole on the reflector of the beam splitting assembly 102can be reduced accordingly as long as the outgoing light signal is notblocked. When the reflected light signal returns coaxially, thereflected light signal may be reflected by the reflector of the beamsplitting assembly 102 to the receiving assembly 103. Because thediameter of the light transmission hole opened on the reflector of thebeam splitting assembly 102 is reduced due to the reduced diameter ofthe outgoing light signal, more reflected light signal may be directedby the reflector to the receiving assembly 103. Accordingly, thedetection distance and detection effect of the optical transceivercomponent 10 may be improved.

Referring to FIG. 8 and FIG. 9 , the optical transceiver component 10may include a collimating assembly 105. The collimating assembly 105 mayinclude a fast-axis-collimating lens group 1054, a slow-axis-collimatinglens group 1055, and a negative lens group 1056. Thefast-axis-collimating lens group 1054 may collimate the outgoing lightsignal in the direction of the fast axis. The slow-axis-collimating lensgroup 1055 may collimate the outgoing light signal in the direction ofthe slow axis. The negative lens group 1056 may diverge the outgoinglight signal in a slow axis direction and/or a fast axis direction, soas to render the outgoing light signal occupying a small space distance,to increase the focal length of the outgoing light signal in the slowaxis and/or the fast axis direction, to reduce the diversion angle ofthe outgoing light signal, and to converge the outgoing light signal,which is equivalent to increasing the energy density of the outgoinglight signal, and thereby improving detection distance and detectioneffect of the optical transceiver component.

As shown in FIG. 8 , the negative lens group 1056 may be a negativecylindrical lens group. The negative cylindrical lens group may be seton the incident side of the slow-axis-collimating lens group 1055, andthe generatrix(es) of the negative cylindrical lens group are set alongthe slow axis direction. First, when the outgoing light signal passesthrough the negative cylindrical lens group, it is diverged in thedirection of the slow axis. Then the outgoing light signal is collimatedby the slow-axis-collimating lens group 1055, which increases the focallength of the outgoing light signal in the slow axis direction. Sincethe product of the diversion angle and focal length of the outgoinglight signal is a fixed value, which is determined by the type andcharacteristics of the laser generator, assuming the space occupied bythe light does not increase, if the focal length of the outgoing lightsignal in the slow axis direction increases, the diffusion angle of theoutgoing light signal decreases and the outgoing light signal converges.Therefore, the optical structure shown in FIG. 8 improves the outputenergy density of the outgoing light signal, thereby improving thedetection distance and detection effect of the optical transceivercomponent 10. Further, the negative cylindrical lens group includes aconcave cylindrical lens. The slow-axis-collimating lens group 1055includes a convex cylindrical lens. This design achieves the effect ofincreasing the focal length while using fewer optical lenses, therebyreducing the difficulty of assembly and adjustment.

In some embodiments, the negative cylindrical lens group may also bedisposed on the incident side of the fast axis collimating lens group1054, and the generatrix(es) of the negative cylindrical lens group aredisposed along a fast axis direction. First, the outgoing light signalmay be diverged in the fast axis direction through the negativecylindrical lens group. Then, the outgoing light signal may becollimated by the fast-axis-collimating lens group 1054 to increase thefocal length of the outgoing light signal in the fast axis direction.Since the diversion angle of the outgoing light signal in the fast axisdirection decreases, the outgoing light signal converges. Therefore,this design improves the output energy density of the outgoing lightsignal, and improves the detection distance and detection effect.Further, the negative cylindrical lens group may include a concavecylindrical lens. The fast-axis-collimating lens group 1054 may includea convex lens. This design achieves the effect of increasing the focallength while using fewer optical lenses, thereby reducing the difficultyof assembly and adjustment.

Of course, the negative lens group 1056 may also diverge the outgoinglight signal in the fast axis direction and the slow axis direction atthe same time. The negative lens group 1056 may be disposed on theincident side of the fast axis collimator lens, and the generatrix(es)of the negative cylindrical lens group is(are) disposed along the fastaxis direction. First, the outgoing light signal may diverge in the fastaxis direction through the negative cylindrical lens group, and then maybe collimated through the fast-axis-collimating lens group 1054 and theslow-axis-collimating lens group 1055, respectively, thereby Increasingthe focal length of the outgoing light signal in the fast axis directionand the slow axis direction. This causes the conversion angle of theoutgoing light signal to decrease in both the fast axis direction andthe slow axis direction. As a result, the outgoing light signalconverges. Therefore, this design improves the output energy density ofthe outgoing light signal, and improves the detection distance anddetection effect.

It should be noted that, the negative lens group 1056 may increase thefocal length of the outgoing light signal only in the fast axisdirection, only in the slow axis direction, or in the fast axis and theslow axis directions together. Since the diversion angle of the outgoinglight signal in the direction of the fast axis is smaller than thediversion angle of the outgoing light signal in the direction of theslow axis, in order to reduce the cost of the device, theabove-described focal length increase and diversion angle reduction mayonly be applied to the slow axis.

Referring to FIG. 8 , the negative lens group 1056 of the collimatingassembly 105 may cause the outgoing light signal diverge in the slowaxis direction and/or the fast axis direction. Therefore, the outgoinglight signal may occupy a small space, and have an increased focallength and decreased diversion angle in the slow axis direction and/orthe fast axis direction. Therefore, the negative lens group 1056 mayconverge the outgoing light signal. This design may increase the energydensity of the outgoing light signal, and improve the detection distanceand detection effect of the optical transceiver component. Then, whenthe outgoing light signal passes through the beam reducing assembly 108,the beam diameter of the outgoing light signal may decrease in at leastone direction. Therefore, the outgoing energy density of the outgoinglight signal is increased, the emitting efficiency of the outgoing lightsignal is improved, and the detection distance and detection effect areimproved.

In some embodiments, the Lidar 1 may include multiple opticaltransceiver components 10. The Lidar 1 may also include a housingcomponent, a hardware component 30, and a scanning component 20. Thehousing component includes a cover and a bottom plate 400. FIG. 10 is aschematic structural diagram of a base plate and a scanning component 20of the Lidar 1 according to some embodiments of the present application.FIG. 11 is a schematic structural diagram of a hardware component 30 ofthe Lidar 1 according to some embodiments of the present application.

As shown in FIG. 10 and FIG. 11 , the optical transceiver components 10,the hardware component 30, and the scanning component 20 are alldisposed in a cavity enclosed by the cover (not shown) and the bottomplate 400.

The hardware component 30 includes a base board 302, a control board303, and a bracket 301. The bracket 301 includes a platform and aplurality of legs. The plurality of legs are evenly disposed below theplatform to support the entire platform. The lower ends of the legs arefixedly connected to the bottom plate 400. Both the base board 302 andthe control board 303 are fixed on the bracket 301.

The scanning component 20 includes a galvanometer assembly 201 and areflector assembly 202. The galvanometer assembly 201 includes agalvanometer 2011 and a galvanometer support component 2012. Thegalvanometer 2011 is fixed on the bottom plate 400 through thegalvanometer support component 2012. The reflector assembly 202 includesa plurality of reflectors 2021. The reflectors 2021 and the opticaltransceiver components 10 are disposed in a one-to-one correspondence.Each of the reflectors 2021 is fixedly connected to the bottom plate 400through a reflector support component 2022.

An outgoing light signal of the optical transceiver component 10 isdirected toward a corresponding reflector 2021; the outgoing lightsignal is reflected by reflector 2021 and directed toward thegalvanometer 2011; the galvanometer 2011 directs the outgoing lightsignal to travel outward for scanning; a reflected light signal from atarget object is received by the galvanometer 2011 and then directedtoward the reflector 2021; the reflector 2021 reflects the reflectedlight signal toward a corresponding optical transceiver component 10; sothe optical transceiver component 10 receives the reflected lightsignal.

When the field of view angle of a single optical transceiver component10 cannot meet the requirements of use, the Lidar 1 may be provided witha plurality of optical transceiver components 10. A plurality ofinstallation positions for the optical transceiver components 10 may beprovided on the bottom plate 400. When the Lidar 1 is assembled, thefield of view angle required by the Lidar 1 may be satisfied by splicingor combining the fields of view angle of the plurality of opticaltransceiver components 10.

FIG. 12 is a Lidar adjustment method according to some embodiments ofthe present application. The adjustment method shown in FIG. 12 may beapplied in the embodiments shown in FIG. 2 . The Lidar 1, to which theadjustment method may be applied, includes at least one opticaltransceiver component 10. The optical transceiver component 10 includesan emitting assembly 101, a beam splitting assembly 102, a receivingassembly 103, and a base 100 as described above. As shown in FIG. 12 ,the adjustment method may include the following steps:

S101, fixedly connecting the beam splitting assembly 102 and the base100 to each other; aligning a light exit port of the emitting assembly101 with a first port of the beam splitting assembly 102; and thenfixedly mounting the emitting assembly 101 on the base 100.

Specifically, the beam splitting assembly 102 and the base 100 are anintegrated structure or are fixedly connected to each other in anon-detachable manner. The light exit port of the emitting assembly 101is aligned with the first port of the beam splitting assembly 102. Theemitting assembly 101 may then be fixed on the base 100. The connectionmay be a snap connection, a screw connection, a connection throughpin(s), an adhesive connection, or any combinations thereof.

S102, alighting the light input port of the receiving assembly 103 withthe second port of the beam splitting assembly 102 to receive and directthe reflected light signal toward the receiving assembly 103.Specifically, the outgoing light signal emitted by the emitting assembly101 enters the first port of the beam splitting assembly 102, exits fromthe third port of the beam splitting assembly 102, and travels to adetection region, where at least a part of the outgoing light signal isreflected by a target object. The reflected light signal then enters thethird port of the beam splitting assembly 102. The reflected lightsignal is then deflected by the beam splitting assembly 102 and directedtoward the receiving assembly 103.

In this case, before the adjustment of the Lidar 1, a known targetobject can be disposed in the detection region. The distance between theknown target object and the Lidar 1 is known.

Specifically, the outgoing light signal emitted by the emitting assembly101 enters the beam splitting assembly 102 via the first port thereofand exits from the third port thereof, and then travels to the detectionregion, where it is reflected by the target object located therein. Thereflected light signal then enters the beam splitting assembly 102 viathe third port thereof, exits via the second port thereof, and thentravels toward the receiving assembly 103. A detector of the receivingassembly 103 is configured to receive the reflected light signal. Theoutgoing light signal and the reflected light signal between the beamsplitting assembly 102 and the target object are coaxial.

S103, The reflected light signal obtained by the receiving assembly 103is compared with a preset light signal threshold.

The preset optical signal threshold may be a preset voltage threshold ora preset current threshold. Specifically, after obtaining the reflectedlight signal, the detector of the receiving assembly 103 may convert thereflected light signal into a voltage signal or a current signal, whichmay be compared with a preset voltage signal threshold or a presetcurrent signal threshold.

S104. When the reflected light signal is lower than the preset lightsignal threshold, adjust the position of the receiving assembly 103.

For example, the reflected light signal is converted to a voltage signalby the detector of the receiving assembly 103. If the voltage signal islower than the preset voltage signal threshold, the position of thereceiving assembly 103 is adjusted in the optical transceiver component10.

S105, the position of the receiving assembly 103 is adjusted until thereflected light signal received by the receiving assembly 103 is greaterthan or equal to the preset light signal threshold. The current positionof the receiving assembly 103 is marked, and the receiving assembly 103is deemed property positioned in this current position.

In this position, the receiving assembly 103 generally has a goodreceiving effect. S106, the receiving assembly 103 may then be fixedlymounted on the beam splitting assembly 102 in the above-describedposition obtain in S105. Alternatively, the receiving assembly 103 maybe fixedly mounted on the base 100 in the above-described positionobtain in S105. The connection between the receiving assembly 103 andthe beam splitting assembly 102, or the connection between the receivingassembly 103 and the base 100 may be a snap connection, a screwconnection, a connection through pin(s), an adhesive connection, or anycombinations thereof.

When the field of view angle of a single optical transceiver component10 cannot meet the requirements, the Lidar 1 may be provided with aplurality of the optical transceiver components 10. The Lidar 1 mayfurther include a bottom plate 400, a hardware component 30, agalvanometer assembly 201, and a reflector assembly 202, as shown inFIGS. 10 and 11 . The adjustment method shown in FIG. 12 may furtherinclude the following steps (not shown in FIG. 12 ):

S107, the galvanometer assembly 201 is mounted on the bottom plate 400.

S108, at least one of the optical transceiver components 10 obtained inS101-S106 is placed in a mounting position on the bottom plate 400.

S109, at least one reflector assembly 202 is fixedly mounted on thebottom plate 400.

S110, the optical transceiver component 10 and the reflector assembly202 is set one-to-one correspondingly. At least one of the position ofthe optical transceiver component 10 or the position of thecorresponding reflector assembly 202 is adjusted, so that the outgoinglight signal from the optical transceiver component 10 is aligned withthe corresponding reflector assembly 202.

S111, the optical transceiver component 10 is fixedly mounted to thebottom plate 400.

S112, the hardware component 30 is fixedly mounted to the bottom plate400.

S113, the cover and the bottom plate 400 are assembled after theinternal adjustment is completed.

For the adjustment method provided in this embodiment, when detecting atarget object, an outgoing light signal emitted by the emitting assembly101 passes through the beam splitting assembly 102, and is directed to adetection region. The outgoing light signal is then reflected by thetarget object in the detection region. The reflected light signal isdeflected by the beam splitting assembly 102 and then received by thereceiving assembly 103. During a process of calibrating the Lidar 1, thebeam splitting assembly 102 and the base 100 are integrated or fixedlyconnected together, the emitting assembly 101 and the receiving assembly103 are mounted and aligned with respect to the beam splitting assembly102. According to the position of the beam splitting assembly 102, thelight exit port of the emitting assembly 101 is aligned with the firstport of the beam splitting assembly 102 and fixed on the base 100. Thelight input port of the receiving assembly 103 is aligned with thesecond port of the beam splitting assembly 102. The reflected lightsignal is received by the receiving assembly 103. Then the reflectedlight signal is compared with the preset light signal threshold. Whenthe reflected light signal is lower than the preset light signalthreshold, the position of the receiving assembly 103 is adjusted. Whenthe reflected light signal is greater than or equal to the preset lightsignal threshold, it is determined that the receiving assembly 103 isproperty positioned. The receiving assembly 103 is then fixedlyinstalled according to the current position obtained above. The Lidar 1includes at least one optical transceiver component 10. The emittingassembly 101, the beam splitting assembly 102, and the receivingassembly 103 of each optical transceiver component 10 may be adjustedbefore the assembling. After the optical transceiver component 10 isadjusted, it may be mounted on the bottom plate 400. In addition, thereis also a scanning component 20 on the bottom plate 400. After beingadjusted, both the optical transceiver component 10 and the scanningcomponent 20 may be fixed to the bottom plate 400. Next, the hardwarecomponent 30 is fixed to the bottom plate 400 for internal adjustment.Finally, the cover and the bottom plate 400 are assembled and packagedto complete the entire installation and adjustment of the Lidar.

When the Lidar is assembled, the plurality of optical transceivercomponents 10 may be combined together to provide the field of viewangle required by the Lidar. The installation and adjustment process issimple and fast. When the emitting assembly 101 or the receivingassembly 102 needs to be replaced for maintenance, only the damaged partthereof needs to be replaced and then a corresponding opticaltransceiver component is readjusted. Accordingly, the emittingassemblies 101 and the receiving assemblies 102 do not need to bere-adjusted. In this way, the product maintenance becomes easier and hasa lower cost. In addition, each optical transceiver component 10 isindividually adjusted, which ensures that the transmission and receptioneffects of each optical transceiver component 10 is good, and thus thedetection effect of the Lidar 1 can be reliably guaranteed.

FIG. 13 is a Lidar adjustment method according to some embodiments ofthe present application. The adjustment method shown in FIG. 13 can beapplied to the embodiment shown in FIG. 4 . The Lidar 1, which may beadjusted according to this embodiment, includes at least one opticaltransceiver component 10. The optical transceiver component 10 includesan emitting assembly 101, a beam splitting assembly 102, a receivingassembly 103, a reflector assembly 104, a collimating assembly 105, anda base 100. The reflector assembly 104 is disposed between the beamsplitting assembly 102 and the receiving assembly 103. As shown in FIG.13 , the adjustment method may include the following steps:

S201, fixing the beam splitting assembly 102 to the base 100 together,and aligning a light exit port of the emitting assembly 101 with a firstport of the beam splitting assembly 102, and then fixing the emittingassembly 10 to the base 100.

Specifically, when the optical transceiver component 10 is beingadjusted, the beam splitting assembly 102 and the base 100 areintegrated or fixedly connected together. The light exit port of theemitting assembly 101 is aligned with the first port of the beamsplitting assembly 102. The emitting assembly 101 may then be is fixedon the base 100. The connection therebetween may be a snap connection, ascrew connection, a connection through pin(s), an adhesive connection,or any combinations thereof.

S2011, the beam splitting assembly 102 and the base 100 are integratedor fixedly connected together, a fast axis collimator is fixed to thebase 100 through a fast axis collimator barrel 1051, and the fast axiscollimator is disposed in the fast axis collimator barrel 1051.

S2012, an emission board 1011 is fixedly held by an emission boardadjustment cover 1013 and an emission board adjustment base 1012, thefixedly held emission board 1011 is placed in an emission board mountingposition on the base 100, and the position of the emitting assembly 101is adjusted so that the outgoing light signal emitted by the emittingassembly 101 is aligned with a first port of the beam splitting assembly102 after passing through the fast axis collimator.

A slow axis collimator is provided on the optical path between theemitting assembly 101 and the beam splitting assembly 102, and the slowaxis collimator is mounted on a slow axis collimator holder 1052, thenat least one of the position of the slow axis collimator and theposition of the emission board 1011 is adjusted so that the outgoinglight signal emitted from the emitting assembly 101 is aligned with thefirst port of the beam splitting assembly 102 after passing through thefast axis collimator and the slow axis collimator. In this case, theoutgoing light signal is an almost parallel collimated light.

S2014, the emission board adjustment base 1012 and the slow axiscollimator holder 1052 are fixedly connected to the base 100 tocompletely the installation of the emitting assembly 101 and the slowaxis collimator.

Specifically, the connection between the fast axis collimator barrel1051 and the base 100, the connection between the slow axis collimatorholder 1052 and the base 100, and the connection between the emissionboard adjustment base 1012 and the base 100 may be snap connections,screw connections, connection through pin(s), adhesive connections, orany combinations thereof.

S202, fixing the reflector supporting assembly 1041 of the reflectorassembly 104 above the beam splitting assembly 102, and aligning anlight input port of the reflector assembly 104 with the second port ofthe beam splitting assembly 102.

Specifically, after the emitting assembly 101, the beam splittingassembly 102, and the collimating assembly 105 are installed, thereflector supporting assembly 1041 of the reflector assembly 104 isfixed above the beam splitter supporting assembly 1021 of the beamsplitting assembly 102, and the light input port of the reflectorassembly 104 is aligned with the second port of the beam splittingassembly 102. The connection between the reflector supporting assembly1041 and the beam splitter supporting assembly 1021 may a snapconnection, a screw connection, a connection through pin(s), an adhesiveconnection, or any combinations thereof.

S203, aligning the light input port of the receiving assembly 103 withthe light exit port of the reflector assembly 104, and then fixing thereceiving assembly 103 to the reflector assembly 104.

Specifically, after the reflector assembly 104 is installed, the lightinput port of the receiving assembly 103 is aligned with the light exitport of the reflector assembly 104, and then the receiving assembly 103is fixed to the reflector assembly 104.

Step S203 further includes:

S2031, a focusing assembly 106 is further provided on the optical pathbetween the receiving board and the reflector assembly 104. At least onefocusing lens is placed in a focusing lens barrel 1061.

S2032, one end of the focusing lens barrel 1061 is aligned with thelight exit port of the reflector assembly 104, and is fixedly connectedto the reflector supporting assembly 1041; a light input port of thereceiving board is aligned with the other end of the focusing lensbarrel 1061, and the receiving board is fixed to the receiving boardbase 1031. The position of the receiving board base 1031 may be adjustedso that the receiving board is perpendicular to the optical axis of thefocusing lens barrel 1061.

S2033, the receiving board base 1031 and the focusing lens barrel 1061are fixedly connected, so as to finish the fixation of the reflectorassembly 104 and the receiving assembly 103.

Specifically, the connection between the reflector supporting assembly1041 and the focusing lens barrel 1061, and the connection between thereceiving board base 1031 and the focusing lens barrel 1061 may be snapconnections, screw connections, connection through pin(s), adhesiveconnections, or any combinations thereof.

S204, receiving the reflected light signal by the receiving assembly103.

Before adjustment, a known target object may be set in the detectionregion, and the distance between the target object and the Lidar 1 isknown. Specifically, an outgoing light signal emitted by the emittingassembly 101 enters the first port of the beam splitting assembly 102and exits from a third port thereof, and is directed toward thedetection region. At least part of the outgoing light signal isreflected by the target object in the detection region to become areflected light signal, the reflected light signal then enters the thirdport of the beam splitting assembly 102, then is deflected by the beamsplitting assembly 102, and exits from the second port thereof. Thereflected light signal is reflected by the reflector assembly 104 towardthe receiving assembly 103. The reflected light signal is obtained by adetector on a receiving board of the receiving assembly 103, and thenconverted into an electrical signal output by the detector.Specifically, the receiving board may be at least one of APD and SiPD.The optical paths of the outgoing light signal and the reflected lightsignal between the beam splitting assembly 102 and the target object arecoaxial.

S205, Comparing the reflected light signal obtained by the receivingassembly 103 with a preset light signal threshold.

The preset optical signal threshold may be a preset voltage signalthreshold or a preset current signal threshold. Specifically, afterobtaining the reflected light signal, the detector may convert thereflected light signal into a voltage signal or a current signal; andthen the voltage signal may be compared with a preset voltage signalthreshold, or the current signal may be compared with a preset currentsignal threshold.

S206. When the reflected light signal is lower than the preset lightsignal threshold, adjusting at least one of a position of the reflector1043 or an angle of the reflector 1043.

For example, the reflected light signal is converted to a voltage signalby detector in the receiving assembly 103. When the comparison resultshows that the voltage signal is lower than the preset voltage signalthreshold, the position and angle of the reflector 1043 in the reflectorassembly 104 may be adjusted to compensate for the errors accumulated inthe previous steps. The angle, distance or the like of the reflector1043 may be adjusted to make the voltage signal output by the receivingassembly 103 meet the requirements. According to an embodiment, thereflector 1043 is fixed on a reflector cover 1042, so the reflector 1043may be adjusted by means of adjusting the reflector cover 1042.

S207, when the reflected light signal is greater than or equal to thepreset light signal threshold, determining that the current positions ofthe reflector 1043 and the receiving assembly 103 are properlypositioned.

Accordingly, when the reflector 1043 is property positioned as describedabove, the receiving assembly 103 has a good receiving effect.

In the foregoing example where the reflected light signal is convertedto a voltage signal on the receiving board of the receiving assembly103, when the comparison result is that the voltage signal is greaterthan or equal to the preset voltage signal threshold, the currentposition of the reflector 1043 is marked as a desired position of thereflector.

S208, according to the desired of the reflector, fixedly mounting thereflector 1043 on the reflector supporting assembly 1041 correspondingto the proper position. Additionally or alternatively, according to thedesired position of the receiving assembly 103, receiving assembly 103is fixedly connected to the reflector assembly 104.

Specifically, the reflector 1043 is fixed on the reflector cover 1042;according to the desired position of the reflector 1043, the reflectorcover 1042 is fixed on the reflector supporting assembly 1041. In thiscase, the connection between the reflector cover 1042 and the reflectorsupporting assembly 1041 may be an adhesive connection, so as to fix thedesired position of the reflector 1043 obtained through the foregoingprocess.

According to some embodiments, when detecting a target object, anoutgoing light signal emitted by the emitting assembly 101 passesthrough the beam splitting assembly 102, and is directed to a detectionregion; at least a part of the outgoing light signal is then reflectedby the target object in the detection region to become a reflected lightsignal, the reflected light signal is deflected by the beam splittingassembly 102 to the reflector assembly 104; next, the reflector assembly104 reflects the reflected light signal toward the receiving assembly103. In this embodiment, the reflector assembly 104 is used to reflectthe reflected light signal; the optical path of the reflected lightsignal is thus folded, so that the space taken by the opticaltransceiver component 10 may be reduced. As a result, the volume of theLidar 1 may be reduced.

During a process of adjusting the Lidar 1, the beam splitting assembly102 and the base 100 are integrated or fixedly connected together.According to the position of the beam splitting assembly 102, the lightexit port of the emitting assembly 101 is aligned with the first port ofthe beam splitting assembly 102. The emitting assembly 101 may then befixed on the base 100. The light input port of the reflector assembly104 is aligned with the second port of the beam splitting assembly 102;the reflector supporting assembly 1041 of the reflector assembly 104 andthe beam splitter supporting assembly 1021 of the beam splittingassembly 102 are fixedly connected; next the light input port of thereceiving assembly 103 is aligned with the light exit port of thereflector assembly 104. The receiving assembly 103 is then fixedlyconnected to the reflector assembly 104. When the receiving assembly 103obtains the reflected light signal, the reflected light signal iscompared with the preset light signal threshold. When the reflectedlight signal is lower than the preset light signal threshold, theposition and/or the angle of the reflector 1043 in the reflectorassembly 104 may be adjusted. When the reflected light signal is greaterthan or equal to the preset light signal threshold, it is determinedthat the current position of the reflector 1043 is a desired positionthereof, and thus the current position of the receiving assembly 103 isalso a desired position thereof; finally, the reflector 1043 is fixed onthe reflector supporting assembly 1041 according to the desired positionof the reflector 1043, and the receiving assembly 103 if fixedlyconnected to the reflector assembly 104 according to the desiredposition of the receiving assembly 103.

In the foregoing method, the emitting assembly 101, the beam splittingassembly 102, the reflector assembly 104 and the receiving assembly 103of the optical transceiver component 10 are pre-adjusted before theassembling. Accordingly, when the Lidar 1 is assembled, the plurality ofoptical transceiver components 10 are combined together to provide thefield of view angle required by the Lidar. The installation andadjustment process is simple and fast. When the emitting assembly 101 orthe receiving assembly 103 of a particular optical transceiver component10 needs to be replaced for maintenance, only the damaged part thereofare replaced and the corresponding optical transceiver component isadjusted. Accordingly, the emitting assemblies 101 and the receivingassemblies 103 of other optical transceiver components do not need to bere-adjusted. In this way, the product maintenance becomes easier and hasa lower cost. In addition, each optical transceiver component 10 isindividually adjusted, which ensures that the transmission and receptioneffects of each optical transceiver component 10 is good, and thus thedetection effect of the Lidar 1 can be reliably guaranteed. Moreover,the added reflector assembly 104 can fold the optical path of theoptical transceiver component 10, thus the size of the Lidar 1 may alsobe reduced according to the embodiments.

FIG. 14 is a Lidar adjustment method according to some embodiments ofthe present application. The adjustment method shown in FIG. 14 can beapplied to the embodiment shown in FIG. 6 . The Lidar 1, which may beadjusted according to the embodiment, includes at least one opticaltransceiver component 10. The optical transceiver component 10 includesan emitting assembly 101, a beam splitting assembly 102, a receivingassembly 103, a reflector assembly 104, and a base 100. The reflectorassembly 104 is disposed between the beam splitting assembly 102 and theemitting assembly 101. As shown in FIG. 14 , the adjustment method mayinclude the following steps:

S301, fixing the beam splitting assembly 102 to the base 100.

Optionally, if a secondary beam splitting assembly 107 is furtherincluded, the secondary beam splitting assembly 107 is aligned with thebeam splitting assembly 102, and then integrated or fixedly connectedwith the base 100.

S302, aligning the light exit port of the emitting assembly 101 with thelight input port of the reflector assembly 104; aligning the light exitport of the reflecting module 104 with the first port of the beamsplitting assembly 102; adjusting at least one of the position of theemitting assembly 101, the position of the reflector assembly 104, andthe angle of the reflector assembly 104, so that the outgoing lightsignal from the emitting assembly 101 is reflected by the reflectorassembly 104 toward the first port of the beam splitting assembly 102.Then fixing the reflector assembly 104 to the base 100, and then fixedlymounting the emitting assembly 101 to the reflector assembly 104.

Specifically, step S302 may further includes:

S3021, a reflector 1043 is fixed on an adjusting member 1044, and theadjusting member 1044 is assembled with the reflector supportingassembly 1041.

S3022, a light exit of a collimator barrel 1053 of the collimatingassembly 105 is aligned with the reflector 1043 and fixed to thereflector supporting assembly 1041; the optical fiber of the emittingassembly 101 is aligned with the light input port of the collimatorbarrel 1053.

S3023, the light exit port of the reflector assembly 104 is aligned withthe first port of the beam splitting assembly 102 or the secondary beamsplitting assembly 107, and the reflector supporting assembly 1041 isfixed to the base 100.

S3024, the angle and the position of the reflector 1043 is adjustedthrough the adjusting member 1044, so that the outgoing light signalemitted by the emitting assembly 101 passes through the collimatingassembly 105 toward the reflector 1043. The outgoing light is thenreflected by the reflector 1043 toward the first port of the beamsplitting assembly 102 or the secondary beam splitting assembly 107.

Specifically, the connection between the reflector supporting assembly1041 and the base 100 and the connection between the collimator barrel1053 and the reflector supporting assembly 1041 may be snap connections,screw connections, connection through pin(s), adhesive connections, orany combinations thereof.

S303, aligning the light input port of the receiving assembly 103 withthe second port of the beam splitting assembly 102 to receive thereflected light signal directed to the receiving assembly 103.

Specifically, the outgoing light signal emitted by the emitting assembly101 enters the first port of the beam splitting assembly 102 and exitsfrom the third port thereof toward a detection region. At least a partof the outgoing light signal is reflected by a target object in thedetection region; the reflected light signal enters the third port ofthe beam splitting module 102, is deflected by the beam splittingassembly 102, and then exits from the second port thereof toward thereceiving assembly 103.

Specifically, step S303 may further includes:

S3031, a focusing assembly 106 is provided on the optical path betweenthe beam splitting assembly 102 and the receiving assembly 103. At leastone focusing lens is provided in the focusing lens barrel 1061.

S3032, one end of the focusing lens barrel 1061 is aligned with thesecond port of the beam splitting assembly 102, and the focusing lensbarrel 1061 is fixedly connected to the beam splitter supportingassembly 1021.

S3033, a light input port of a receiving board of the receiving assembly103 is aligned with the other end of the focusing lens barrel 1061 toobtain the reflected light signal directed toward the receiving assembly103 by the focusing assembly 106.

Before adjustment, a known target object maybe preset in the detectionregion, and the distance between the target object and the Lidar 1 isknown. Specifically, an outgoing light signal emitted by the emittingassembly 101 enters the first port of the beam splitting assembly 102and exits from a third port thereof, and is directed toward thedetection region. The outgoing light signal may be reflected by thetarget object in the detection region. The reflected light signal thenenters the third port of the beam splitting module 102, is deflected bythe beam splitting assembly 102, and exits from the second port thereoftoward the receiving assembly 103. The reflected light signal is thenreceived by a detector on a receiving board of the receiving assembly103 and converted into an electrical signal output by the detector.Specifically, the receiving board may be at least one of APD and SiPD.

Specifically, the connection between the focusing lens barrel 1061 andthe beam splitter supporting assembly 1021 may be a snap connection, ascrew connection, a connection through pin(s), an adhesive connection,or any combinations thereof.

S304, comparing the reflected light signal with a preset light signalthreshold.

The preset optical signal threshold may be a preset voltage signalthreshold or a preset current signal threshold. Specifically, afterobtaining the reflected light signal, the detector may convert thereflected light signal into a voltage signal or a current signal; andthen the voltage signal may be compared with a preset voltage signalthreshold, or the current signal may be compared with a preset currentsignal threshold.

S305. When the reflected light signal is lower than the preset lightsignal threshold, adjusting the position of the receiving assembly 103.

For example, when the reflected light signal is converted to a voltagesignal by the receiving assembly 103, if the voltage signal is lowerthan the preset voltage signal threshold, the position of the receivingassembly 103 may be adjusted, until the voltage signal output by thereceiving assembly 103 meets the requirements.

S306, when the reflected light signal is greater than or equal to thepreset light signal threshold, determining that the current position ofthe receiving assembly 103 is a proper position (desire position) of thereceiving assembly 103.

In the desired position, the receiving assembly 103 has a good receivingeffect. That is, the optical axis of the receiving assembly 103 issubstantially aligned with the optical axis of the focusing assembly106.

In the foregoing example where the reflected light signal is convertedto a voltage signal at the receiving assembly 103, when the comparisonresult obtained by the detector is that the voltage signal is greaterthan or equal to the preset voltage signal threshold, the currentposition of the receiving assembly 103 is deemed the desired position ofthe receiving assembly 103.

S307, fixing the receiving assembly 103 according to the properposition, such that the installation and adjustment of the entireoptical transceiver component 10 is completed.

When the field of view angle of a single optical transceiver component10 cannot meet the requirement, the Lidar 1 may be provided with aplurality of the optical transceiver components 10. The Lidar 1 mayfurther include a bottom plate 400, a hardware component 30, agalvanometer assembly 201, and a reflector assembly 202, as shown inFIGS. 10 and 11 . The adjustment method shown in FIG. 14 may furtherinclude the following steps (not shown in FIG. 14 ):

S308, mounting the galvanometer assembly 201 on the bottom plate 400.

S309, placing at least one of the assembled optical transceivercomponents 10 in a mounting position on the bottom plate 400.

S310, fixedly mounting at least one reflector assembly 202 i on thebottom plate 400.

S311, one-to-one arranging the optical transceiver component 10 and thereflector assembly 202, adjusting at least one of the position of theoptical transceiver component 10 and the position of the correspondingreflector assembly 202 to make the outgoing light signal from theoptical transceiver component 10 align with the corresponding reflectorassembly 202.

S312, fixing the optical transceiver component 10 to the bottom plate400.

S313, fixing the hardware component 30 to the bottom plate 400.

S314. After the internal adjustment is completed, further assembling thecover and the bottom plate 400, and then packaging the finishedassembly.

According to a further embodiment, the optical transceiver component 10may further include a reflector assembly 104. The reflector assembly 104is used to reflect the outgoing light signal, and the outgoing lightpath is thus folded to become shorter. In this way, the volume taken theoptical transceiver component 10 may be reduced, and accordingly, thevolume of the Lidar is reduced as well.

In a Lidar installation and adjustment process applicable to theembodiment shown in FIG. 14 , the beam splitting assembly 102 and thebase 100 are integrated or fixedly connected with each other; the lightexit port of the emitting assembly 101 is aligned with the light inputport of the reflector assembly 104, the emitting assembly 101 and thereflector assembly 104 are fixed; the light exit port of the reflectorassembly 104 is aligned with the first port of the beam splittingassembly 102, the reflector assembly 104 is fixed on the base 100; nextthe light input port of the receiving assembly 103 is aligned with thesecond port of the beam splitting assembly 102, and the receiving module103 receives the reflected light signal. Next, the reflected lightsignal is compared with the preset light signal threshold; when thereflected light signal is lower than the preset light signal threshold,the position and the angle of the receiving assembly 103 are adjusted.When the reflected light signal is greater than or equal to the presetlight signal threshold, it is determined that the current position ofthe receiving assembly 103 is the desired position of the receivingassembly 103; next the receiving assembly 103 is fixedly installedaccording to the desired position of the receiving assembly 103.

The Lidar includes at least one optical transceiver component 10. Theemitting assembly 101, the beam splitting assembly 102, and thereceiving assembly 103 of each optical transceiver component 10 may beadjusted before assembling Lidar 1. After the optical transceivercomponent 10 is adjusted, it may be mounted on the bottom plate 400 as awhole. In addition, there is also a scanning component 20 on the bottomplate 400. After being adjusted, both the optical transceiver component10 and the scanning component 20 may be fixed to the bottom plate 400.Next, the hardware component 30 is fixed to the bottom plate 400 forinternal adjustment. Finally, the cover and the bottom plate 400 areassembled and packaged to complete the entire installation andadjustment of the Lidar.

When the Lidar is assembled, the plurality of optical transceivercomponents 10 are combined together to provide the field of view anglerequired by the Lidar 1. The installation and adjustment process issimple and fast. When the emitting assembly 101 or the receivingassembly 102 needs to be replaced for maintenance, only the damaged partthereof needs to be replaced and then a corresponding opticaltransceiver component is readjusted. Accordingly, the emittingassemblies 101 and the receiving assembly 102 of other opticaltransceiver components do not need to be re-adjusted. In this way, theproduct maintenance becomes easier and has a lower cost. In addition,each optical transceiver component 10 is individually adjusted, whichensures that the transmission and reception of each optical transceivercomponent 10 is good, and thus the detection effect of the Lidar can bereliably guaranteed.

The technical features of the embodiments described above may becombined in many different ways. In order to make the descriptionconcise, not every possible combination of the technical features in theabove embodiments has been described herein. However, as long as thereis no contradiction in the combination of these technical features, sucha combination should be considered as within the scope disclosed in thisspecification. It should be noted that “in an embodiment,” “forexample,” “another example,” and the like in the present application areintended to illustrate the present application instead of limiting thepresent application.

The aforementioned embodiments are merely a few embodiments of thepresent disclosure. Their descriptions are specific and detailed, butshould not be understood as the limitations on the scope of the presentdisclosure. It is appreciated by a person of ordinary skill in the artthat many variations and improvements may be made without departing fromthe concept of the present disclosure, and these variations andimprovements all fall within the scope of protection of the presentapplication. Therefore, the scope of protection of the presentapplication shall be defined by the appended claims.

The invention claimed is:
 1. An optical device, comprising: an emittingassembly configured to emit an outgoing light signal; a beam splittingassembly configured to pass the outgoing light signal from the emittingassembly to a detection region, receive a reflected light signal fromthe detection region, and modify a transmission direction of thereflected light signal, wherein the reflected light signal comprises atleast a part of the outgoing light signal reflected by an object in thedetection region; a collimating assembly disposed between the emittingassembly and the beam splitting assembly and configured to modifyemission characteristics of the outgoing light signal along a first axisand a second axis, the first axis and the second axis beingperpendicular to the transmission direction; and a receiving assemblyconfigured to receive the reflected light signal from the beam splittingassembly after the direction modification and generate an electricalsignal in response to the reflected light signal.
 2. The optical deviceof claim 1, further comprising a reflector assembly disposed between thebeam splitting assembly and the receiving assembly and configured todirect the reflected light signal from the beam splitting assembly tothe receiving assembly.
 3. The optical device of claim 1, furthercomprising a reflector assembly disposed between the emitting assemblyand the beam splitting assembly and configured to direct the outgoinglight signal from the emitting assembly to the beam splitting assembly.4. The optical device of claim 1, wherein the first axis is a fast axisand the second axis is a slow axis of the outgoing light signal.
 5. Theoptical device of claim 1, further including a focusing assemblyconfigured to receive the reflected light signal from the beam splittingassembly and converge the reflected light signal onto the receivingassembly.
 6. The optical device of claim 1, further comprising asecondary beam splitting assembly disposed between the emitting assemblyand the beam splitting assembly and configured to remove an unwantedpart of the outgoing light signal.
 7. The optical device of claim 1,further comprising a beam reducing assembly disposed between theemitting assembly and the beam splitting assembly and configured toreduce a dimension of the outgoing light signal.
 8. The optical deviceof claim 7, wherein the beam reducing assembly reduces the dimension ofthe outgoing light signal by one-half.
 9. The optical device of claim 8,wherein the dimension reduction is measured along a directionperpendicular to the transmission direction.
 10. A method for adjustingan optical device, comprising: aligning an emitting assembly and a beamsplitting assembly; coupling a receiving assembly to the beam splittingassembly; emitting, by the emitting assembly, an outgoing light signalto a detection region through the beam splitting assembly along a firsttransmission direction, wherein the beam splitting assembly receives areflected light signal from the detection region and directs thereflected light signal along a second transmission direction to thereceiving assembly, the reflected light signal comprising at least apart of the outgoing light signal reflected from the detection region;detecting the reflected light signal directed from the beam splittingassembly to the receiving assembly; comparing the reflected light signalwith a threshold value; and adjusting an optical transceiver componentuntil the reflected light signal received by the receiving assembly isgreater than or equal to the threshold value.
 11. The method of claim10, wherein adjusting the optical transceiver component until thereflected light signal received by the receiving assembly is greaterthan or equal to the threshold value further comprises: adjusting thereceiving assembly with respect to the beam splitting assembly until thereflected light signal received by the receiving assembly is greaterthan or equal to the threshold value.
 12. The method of claim 11,further comprising fixing the receiving assembly with respect to thebeam splitting assembly.
 13. The method of claim 12, wherein aligningthe emitting assembly and a beam splitting assembly further comprises:coupling the emitting assembly to a reflector assembly; and aligning theemitting assembly, the reflector assembly and the beam splittingassembly.
 14. The method of claim 13, wherein fixing the emittingassembly with respect to the beam splitting assembly further comprises:fixing the reflector assembly and the beam splitting assembly to abottom plate; and fixing the emitting assembly to the reflectorassembly.
 15. The method of claim 10, further comprising fixing areflector assembly to the beam splitting assembly, wherein coupling thereceiving assembly to the beam splitting assembly further comprises:aligning the receiving assembly with the reflector assembly; couplingthe receiving assembly to the beam splitting assembly through thereflector assembly fixed to the beam splitting assembly; and fixing thereceiving assembly to the reflector assembly.
 16. The method of claim15, wherein adjusting the optical transceiver component until thereflected light signal received by the receiving assembly is greaterthan or equal to the threshold value further comprises: adjusting areflector within the reflector assembly until the reflected light signalreceived by the receiving assembly is greater than or equal to thethreshold value; and fixing the reflector within the reflector assembly.17. An optical device, comprising: an emitting assembly configured toemit an outgoing light signal; a beam splitting assembly configured topass the outgoing light signal from the emitting assembly to a detectionregion, receive a reflected light signal from the detection region, andmodify a transmission direction of the reflected light signal, whereinthe reflected light signal comprises at least a part of the outgoinglight signal reflected by an object in the detection region; a beamreducing assembly disposed between the emitting assembly and the beamsplitting assembly and configured to reduce a dimension of the outgoinglight signal; and a receiving assembly configured to receive thereflected light signal from the beam splitting assembly after thedirection modification and generate an electrical signal in response tothe reflected light signal.
 18. The optical device of claim 17, whereinthe beam reducing assembly reduces the dimension of the outgoing lightsignal by one-half.
 19. The optical device of claim 18, wherein thedimension reduction is measured along a direction perpendicular to thetransmission direction.